- 學位論文
視覺導引控制的安全人機互動
Visually-Guided Control for Safe Human-Robot Interaction
摘要
早在數十年前，人們就預測機器人最終將進入我們日常生活中各式各樣的環境並與人類有近距離的互動。近年來，由於科技的突破，使得機器人得以藉由高度的系統整合及更先進的認知能力，實現了走入家庭的夢想。這幾年很多公司都相繼地開發出服務型機器人的產品。然而，當機器人走入家庭環境為人們服務時，需要滿足一些基本需求，其中包括生活上便利的應用、在非結構化的環境下穩健地執行任務、以及人機互動的體驗。因此，本篇論文致力於實現家庭服務型機器人的基本需求，並應用於互動式照明機器人、安全的人機互動、人形機器人即時反應控制架構、及機器人模仿學習等四個主題。 首先，我們希望機器人在家庭環境的應用上，應該扮演著幫助人類現有生活有更好品質的角色而非取代人類的工作。因此，我們提出了一個照明助理機器人，它利用機器手臂來扮演家中的照明設備，並藉由手眼視覺導引控制來提供互動式輔助照明的功能。另外，對於在非結構化空間中穩健地執行任務，其本質上需要考慮的重點就是人機互動的安全性及環境的感知。因此，我們使用虛擬阻抗控制機器人，使得機器人不論面對何種障礙物都能達到穩健、平順及一致的方式迴避障礙物，進而讓機器人可以在避免各種的碰撞下安全地進行它原本的任務。藉由監控操作空間，機器人可以安全且順從地與人類近距離的互動。再者，對於人型機器人在環境中執行任務時，除了要原本任務的執行外，還需要注意到與障礙物碰撞及自我肢體碰撞等問題。於此，我們也使用了一個基於虛擬阻抗控制的即時反應架構來控制人形機器人，使其能安全地完成任務。最後，在達到更好的人機互動體驗方面，除了上述的安全性外，機器人還需要具備人類可預測的行為表現。因此，我們教導人形機器人利用運動神經共鳴的方法，藉由觀察人類的示範動作來模仿學習如何比手語，希望幫助喑啞人士有更好的人機互動體驗。
並列摘要
Since past decades, it was predicted that robots will eventually enter diverse daily environments and closely interact with humans. Recent technological advances in robotics enabled robots possible to realize systems of high integration, advanced perceptional capabilities and enhanced power to cross this barrier. Various companies have developed their first commercial service robotic products in recent years. However, the increasing effort has made it necessary to address the fundamental requirements of service robots in domestic environment. They range from useful applications, and robust operation in the unstructured environment, to the human-robot interaction experience. This dissertation is devoted to complying the necessary requirements with applications to the four topics: the robotic illuminating assistant, safe human-robot interaction, safe humanoid manipulation, and imitating human-like behavior by motor resonance. In response to the requirement of useful household applications for service robotics, we suggest an idea that robots should support us through enhancing the way we interact with household appliances, instead of replacing us at certain chores. Therefore, we proposed to use a robotic manipulator to serve as the household appliance, e.g. robotic illuminating assistant, for interactively illuminating support by using the eye-in-hand visual servoing. For robust operation in the unstructured environment, it intrinsically needs to consider the safety in human-robot interaction and the environmental perception. For assuring human-robot-environment safety, the virtual impedance control and the safe humanoid manipulation are proposed. The virtual impedance control is designed for the robust, smooth, and consistent collision avoidance that the robot can avoid all the possible collisions robustly while trying to accomplish the original task. By monitoring the workspace, the robots can respond to the human nearby safely and compliantly. In addition, as humanoids operating in unstructured environments, it is necessary to simultaneously consider not only robust task execution but also the safety issues, such as colliding with objects in the environment, self-collision, and so on. In this case, we proposed a multi-priority reactive control framework based on the virtual impedance control approach for safe humanoid manipulation. Finally, to achieve better human-robot interaction experience, the robot needs to behave predictably compared to human beings beside safety issues. We teach the humanoid robot imitating human-like behavior by motor resonance. The robot can perform sign languages by observing human demonstration for the better experience of interacting with deaf people.